﻿/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef JOINT_TRAJECTORY_DOWNLOADER_H
#define JOINT_TRAJECTORY_DOWNLOADER_H

#include "industrial_robot_client/joint_trajectory_interface.h"

namespace industrial_robot_client
{
namespace joint_trajectory_downloader
{

using industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface;
using industrial::joint_traj_pt_message::JointTrajPtMessage;

/**
 * \brief Message handler that downloads joint trajectories to
 * a robot controller that supports the trajectory downloading interface
 */
class JointTrajectoryDownloader : public JointTrajectoryInterface
{

public:

  bool send_to_robot(const std::vector<JointTrajPtMessage>& messages);

};

} //joint_trajectory_downloader
} //industrial_robot_client

#endif /* JOINT_TRAJECTORY_DOWNLOADER_H */
